Immersed tube air cushion suspension device and control method thereof

Abstract

The present invention proposes an air cushion suspension device for a submerged tube section and a control method thereof, which belong to the field of submerged tube transportation. The present invention realizes intelligent air cushion suspension transportation of the submerged tube section by dividing the air cushion suspension device for the submerged tube section into an air cushion suspension unit, a partition control unit, a communication unit and a central control unit. The method can intelligently control the suspension height, speed and transportation angle of each partition and the entire submerged tube section, and has the advantages of reducing friction and ground vibration, efficient handling, precise control, adaptability to various terrains, reducing damage to the ground, and environmental protection and safety during the transportation of the submerged tube section.

Description

Technical Field

[0001] The present invention relates to the field of immersed tube transportation, and in particular to an immersed tube air cushion suspension device and a control method thereof. Background Art

[0002] At present, the transportation of pipe sections in large-scale projects adopts the method of building multiple sets of trolleys for joint transportation and laying out rail transportation in the dry dock. The trolley transportation and rail transportation must be kept at the same level during transportation to prevent excessive pressure at a single point from damaging the foundation and causing overall collapse and equipment damage. However, the manual arrangement of the trolley system and the rail system is complex, and the ground foundation firmware needs to be laid in advance. The fixed path leads to limited maneuverability and difficulty in moving in complex environments. The transmission of the gravity of the pipe section to the ground is 1:1, and the high pressure on the dry dock ground is easy to damage the ground, which limits the size and weight of the pipe section. In addition, the corresponding trolleys and tracks for larger pipe sections must also be more powerful, further compressing the transportation space. The trolley control system needs to consider many complex aspects, involving the trolley's motion control, position control, communication system and energy management. The processing of data after acquisition requires a higher level of training for operators and is more troublesome in terms of human-computer interaction. There are also problems such as high friction resistance in trolley transportation and rail transportation, high difficulty in fine control, and ground vibration affecting the integrity of the pipe section.

[0003] The air cushion suspension transport system is a transport technology that uses the air cushion principle to achieve suspension and movement; its main features and advantages in the transportation of immersed tube segments are as follows: reducing friction and energy consumption, improving stability and safety, increasing transport efficiency and being more suitable for the immersed tube operating environment; therefore, the method of transporting immersed tube segments by means of an air cushion suspension device will be very effective. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above problems existing in the prior art and to greatly improve its technical effect on the basis of the original technology. The present invention provides a submerged tube air cushion suspension device, which includes:

[0005] Air cushion suspension unit, partition control unit, communication unit and central control unit;

[0006] The air cushion suspension unit includes an air cushion suspension device; the air cushion suspension device is a device that uses air pressure to generate an air cushion to suspend the target object in the air; the air cushion suspension device is designed at the bottom of the immersed tube segment transport vehicle so that the transport vehicle is suspended above the ground during transportation;

[0007] The partition control unit includes: a sensor module and a control module; by dividing the suspended transport area into multiple partitions and installing sensors and controllers on each partition, real-time monitoring and partition control of each partition are achieved;

[0008] The communication unit includes: a communication device; by installing the communication device in each partition, a distributed communication system is formed in the entire suspended transport area, so that the control modules of each partition can exchange information in real time;

[0009] The central control unit refers to the central control server, which includes: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to the analysis of data information of each partition collected in real time through artificial intelligence technology, and achieves the purpose of optimizing the path, adjusting the suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to the real-time monitoring interface, and the real-time monitoring interface refers to the operator's ability to monitor the status of the suspension transport vehicle and the position information of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to achieve human-computer collaboration.

[0010] Specifically, the air cushion suspension unit includes: the immersed tube segment has the characteristics of large structure and high weight, so the transportation of the immersed tube segment requires multiple transport vehicles to complete at the same time. At the same time, an air cushion suspension device must be designed at the bottom of each transport vehicle, and all air cushion suspension devices work at the same time to complete the transportation of the immersed tube segment.

[0011] Specifically, the partition control unit includes: treating each vehicle as a partition and multiple vehicles as a partition; after partitioning, determining the corresponding parameter state threshold of each partition, the corresponding parameters include: suspension height, speed and corresponding partition pipe segment inclination angle; the method for determining the corresponding parameter state threshold of each partition is: determination of suspension height threshold: under ideal conditions, the suspension height is between 5% and 10% of the pipe segment diameter, so the suspension height threshold is selected to be 5% to 10% of the pipe segment diameter; determination of speed threshold: usually, the transportation speed range is selected to be between 0.5 and 2m / s, and the transportation speed threshold of each partition vehicle is selected to be between 0.5 and 2m / s; determination of the corresponding partition pipe segment inclination angle: using SolidWorks 3D modeling software to establish a 3D model of the entire system of submerged pipe segment air cushion suspension; simulating the established 3D model to put the pipe segment in different states, including safe state and unsafe state; thereby determining the state threshold of the pipe segment inclination angle of different partitions; at the same time, the vehicle suspension height and running speed are simulated through 3D simulation to further optimize the suspension height threshold and speed threshold.

[0012] Specifically, the communication unit includes: installing communication equipment on the vehicles in each partition, marking the position of each communication equipment, and enabling information to be transmitted between the communication equipment, so that the immersed tube air cushion suspended transportation is equipped as a distributed communication system.

[0013] Specifically, the artificial intelligence control module includes: managing the tilt angle of the partitioned pipe section according to the analysis results; the artificial intelligence module is implemented through a neural network, and the neural network mainly includes: model training, model verification and model prediction; wherein, the model training includes: when extracting the training set and test set of the optimal path, obtaining multiple path information from the starting point to the destination, extracting the distance from the starting point to the destination and the number of obstacles on each path information as input X i , i is the i-th input sample, X i is a vector; transportation time T i is the output, i is the i-th output sample; when extracting the training set and data set for adjusting the suspension height and speed, the data between 0 and 15% of the pipe segment diameter and the transport vehicle speed between 0 and 3 m / s are segmented respectively, and multiple data in each segment are extracted as the input of the neural network, and whether the input is within the safety range is used as the output of the neural network. If the input is within the threshold, the output is set to 1, and if the input is no longer within the threshold, the output is set to 0; the threshold of the suspension height is between 5% and 10% of the pipe segment diameter, that is, (5%d, 10%d), where d is the diameter of the immersed tube segment; the threshold of the speed of each zone transport point is (0.5, 2); when extracting the training set and test set of the zone segment inclination angle, through three-dimensional simulation, the inclination angle of each zone segment in different states of the immersed tube segment is used as the input of the neural network (h1, h2, ... h j …h n )h j It represents the inclination angle of the immersed tube segment in the j-th partition, and outputs 1 if the immersed tube segment is within the safety threshold and 0 if it is outside the safety range. By extracting the input and output of the optimal path, transport vehicle height, transport vehicle speed and partitioned tube segment inclination angle in the neural network, the extracted data are divided into a training set and a test set, and neural network models with different parameters are trained. That is, after training, the optimal path neural network model, the suspension height neural network model, the transport vehicle speed neural network model and the tube segment inclination angle neural network model are obtained respectively.

[0014] Specifically, the artificial intelligence control module further includes: extracting the distance from the starting point to the destination and the number of obstacles in the path information in the corresponding transportation environment according to the target immersed tube segment transportation environment as the input of the optimal path neural network model, determining the optimal path of the target immersed tube segment, and outputting T iThe path corresponding to the minimum value is taken as the optimal path; then, during the transportation process, the suspension height, speed and pipe segment inclination angle information of each partition are extracted in real time as input information of the suspension height neural network model, the transport vehicle speed neural network model and the pipe segment inclination angle neural network model, and the output information is obtained to determine whether each parameter is within the safety threshold. If it is not within the safety threshold, the corresponding instructions are generated, and the controllers of the transport vehicles in each partition adjust the corresponding parameters to ensure that each parameter operates within the safety threshold.

[0015] Specifically, the energy management module includes: processing the energy consumption data of each partition collected in real time through the genetic algorithm GA to optimize the energy allocation strategy; the genetic algorithm is based on natural selection and genetic principles, and uses selection, crossover and mutation operations to find the optimal solution. By processing the collected energy consumption data of each partition through the GA algorithm, the energy allocation strategy will be effectively obtained.

[0016] Specifically, it also includes: generating a transportation control method for the entire immersed tube segment through the control methods of the above-mentioned air cushion suspension unit, partition control unit, communication unit and central control unit, so as to realize real-time, intelligent, energy-saving, efficient and safe transportation of the immersed tube segment.

[0017] The beneficial effects of the present invention are:

[0018] The present invention provides a submerged tube air cushion suspension device and a control method thereof, which has the following advantages:

[0019] Reduce friction and ground vibration: The air cushion transporter reduces friction with the ground by being suspended on the air cushion. At the same time, since it is suspended on the air cushion, the vibration with the ground is reduced.

[0020] Able to carry efficiently: Due to the reduction of friction, air cushion suspended transporters can usually achieve efficient transportation of large loads with relatively small power, thereby improving transportation efficiency.

[0021] Precise control: The characteristics of the air cushion suspension system and the partitioned intelligent control of the present invention make the transport vehicle show high stability during movement, and can be controlled and positioned more accurately, which is suitable for scenarios requiring high-precision transportation.

[0022] Adaptable to various terrains: The air cushion suspended transporter can adapt to different terrains, including flat ground, uneven ground and even water, which increases the flexibility of the transporter.

[0023] Less damage to the ground: Traditional trolleys may leave marks on the ground due to friction, while air cushion trolleys reduce physical contact with the ground during transportation, reducing damage to the ground.

[0024] Environmental protection and safety: Air cushion transport vehicles usually use air as the suspension medium, which is relatively environmentally friendly. In addition, due to the reduction of friction, the wear during transportation is less, which helps to extend the life of the equipment, reduce maintenance requirements, and also ensure the safety and integrity of the pipe segments during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 : A schematic diagram of a submerged tube air cushion suspension device of the present invention.

[0026] Figure 2 : Flowchart of a control method for a submerged tube air cushion suspension device of the present invention.

[0027] Figure 3 : Schematic diagram of intelligent partition control of the present invention.

[0028] Figure 4 : Schematic diagram of integrated artificial intelligence decision-making of the present invention. DETAILED DESCRIPTION

[0029] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given here are only used to illustrate and explain the present invention and cannot be used to limit the present invention.

[0030] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present invention. However, the present invention may also have other implementations and variations thereof. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0031] like Figure 1 1 is a schematic diagram of an air cushion suspension device for a immersed tube section according to an embodiment of the present invention, which includes: an air cushion suspension unit S10; a partition control unit S20; a communication unit S30; and a central control unit S40.

[0032] Specifically, the air cushion suspension unit S10 is connected to the partition control unit S20 and is used to suspend the immersed tube segment transport vehicle through the air cushion suspension function, thereby reducing friction with the ground.

[0033] Specifically, the partition control unit S20 is connected to the air cushion suspension unit S10 and the communication unit S30, and partitions the immersed tube segments and performs partition control.

[0034] Specifically, the communication unit S30 is connected to the partition control unit S20 and the central control unit S40 , collects information from the partition control unit S20 , and transmits the information to the central control unit S40 .

[0035] Specifically, the central control unit S40 is connected to the communication unit S30, analyzes the information received from the communication unit S30, and regulates different partitions of the immersed tube segment according to the analysis results.

[0036] like Figure 2 As shown: a flow chart of a control method for an air cushion suspension device of a submerged tube section according to the present invention; the flow chart includes: step S101, an air cushion suspension unit, a partition control unit, a communication unit and a central control unit; step S102, the air cushion suspension unit includes: an air cushion suspension device; the air cushion suspension device refers to a device that uses air pressure to generate an air cushion to suspend the target object in the air; an air cushion suspension device is designed at the bottom of the submerged tube section transport vehicle so that the transport vehicle is suspended on the ground during transportation; step S103, the partition control unit includes: a sensor module and a control module; by dividing the suspended transport area into multiple partitions and installing sensors and controllers on each partition, real-time monitoring and partition control of each partition are realized; step S104, the communication unit includes: communication equipment; by installing communication equipment in each partition, the entire suspended transport area is formed. A distributed communication system is used to realize real-time information exchange among the control modules of each partition; in step S105, the central control unit refers to the central control server, which includes: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to the analysis of the data information of each partition collected in real time through artificial intelligence technology, and achieves the purpose of optimizing the path, adjusting the suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to the real-time monitoring interface, which means that the operator can monitor the status of the suspension transport vehicle and the position of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to realize human-computer collaboration.

[0037] Step S101, air cushion suspension unit S10, partition control unit S20, communication unit S30 and central control unit S40.

[0038] In the above embodiment, specifically, the pad suspension unit S10, the partition control unit S20, the communication unit S30 and the central control unit S40 together constitute the intelligent partition control device for the immersed tube segment of the present invention.

[0039] In step S102, the air cushion suspension unit S10 includes: an air cushion suspension device; the air cushion suspension device refers to a device that uses air pressure to generate an air cushion to suspend the target object in the air; an air cushion suspension device is designed at the bottom of the immersed tube segment transport vehicle so that the transport vehicle is suspended above the ground during transportation.

[0040] In the above embodiment, specifically, the immersed tube segment has the characteristics of large structure and high weight, so the transportation of the immersed tube segment requires multiple transport vehicles to complete it at the same time. At the same time, an air cushion suspension device is designed at the bottom of each transport vehicle, and all air cushion suspension devices work at the same time to complete the transportation of the immersed tube segment.

[0041] In step S103, the partition control unit S20 includes a sensor module and a control module. The suspension transport area is divided into multiple partitions, and sensors and controllers are installed in each partition to achieve real-time monitoring and partition control of each partition.

[0042] In the above embodiment, specifically, each vehicle is regarded as a partition and multiple vehicles are regarded as a partition; after partitioning, the parameter state thresholds corresponding to each partition are determined, and the corresponding parameters include: suspension height, speed and the corresponding partition pipe segment inclination angle; the method for determining the parameter state thresholds corresponding to each partition is as follows: Determination of the suspension height threshold: Under ideal conditions, the suspension height is between 5% and 10% of the pipe segment diameter, so the suspension height threshold is selected to be between 5% and 10% of the pipe segment diameter; Determination of the speed threshold: Usually, the transportation speed range is selected to be between 0.5 and 2 m / s, and the transportation speed threshold of each partition vehicle is selected to be between 0.5 and 2 m / s; Determination of the corresponding partition pipe segment inclination angle: A three-dimensional model of the entire system of the submerged pipe segment air cushion suspension is established through SolidWorks three-dimensional modeling software; simulation is performed through the established three-dimensional model to put the pipe segment in different states, including a safe state and an unsafe state; thereby determining the state thresholds of the pipe segment inclination angles of different partitions; at the same time, the vehicle suspension height and running speed are simulated through three-dimensional simulation to further optimize the suspension height threshold and speed threshold.

[0043] In step S104, the communication unit S30 includes: a communication device; by installing the communication device in each partition, a distributed communication system of the entire suspension transport area is formed, so that the control modules of each partition can exchange information in real time.

[0044] In the above embodiment, specifically, communication equipment is installed on the vehicles in each partition, the position of each communication equipment is marked, and information can be transmitted between the communication equipment, so that the transportation of the immersed tube air cushion suspension is equipped as a distributed communication system.

[0045] Step S105, the central control unit S40 refers to the central control server, including: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to analyzing the data information of each partition collected in real time through artificial intelligence technology, and achieving the purpose of optimizing the path, adjusting the suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to the real-time monitoring interface, and the real-time monitoring interface refers to the operator being able to monitor the status of the suspension transport vehicle and the position information of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to achieve human-computer collaboration.

[0046] In the above embodiment, specifically, the artificial intelligence control module includes: managing the tilt angle of the zoned pipe section according to the analysis results; the artificial intelligence module is implemented through a neural network, and the neural network mainly includes: model training, model verification and model prediction; wherein, the model training includes: when extracting the training set and test set of the optimal path, obtaining multiple path information from the starting point to the destination, extracting the distance from the starting point to the destination and the number of obstacles on each path information as input X i , i is the i-th input sample, X i is a vector; transportation time T i is the output, i is the i-th output sample; when extracting the training set and data set for adjusting the suspension height and speed, the data between 0 and 15% of the pipe segment diameter and the transport vehicle speed between 0 and 3 m / s are segmented respectively, and multiple data in each segment are extracted as the input of the neural network, and whether the input is within the safety range is used as the output of the neural network. If the input is within the threshold, the output is set to 1, and if the input is no longer within the threshold, the output is set to 0; the threshold of the suspension height is between 5% and 10% of the pipe segment diameter, that is, (5%d, 10%d), where d is the diameter of the immersed tube segment; the threshold of the speed of each zone transport point is (0.5, 2); when extracting the training set and test set of the zone segment inclination angle, through three-dimensional simulation, the inclination angle of each zone segment in different states of the immersed tube segment is used as the input of the neural network (h1, h2, ... h j …h n )h jIt represents the inclination angle of the immersed tube segment in the j-th partition, and outputs 1 if the immersed tube segment is within the safety threshold and 0 if it is outside the safety range. By extracting the input and output of the optimal path, transport vehicle height, transport vehicle speed and partitioned tube segment inclination angle in the neural network, the extracted data are divided into a training set and a test set, and neural network models with different parameters are trained. That is, after training, the optimal path neural network model, the suspension height neural network model, the transport vehicle speed neural network model and the tube segment inclination angle neural network model are obtained respectively.

[0047] In the above embodiment, specifically, the artificial intelligence control module further includes: according to the target immersed tube segment transportation environment, extracting the distance from the starting point to the destination and the number of obstacles in the path information in the corresponding transportation environment as the input of the optimal path neural network model, determining the optimal path of the target immersed tube segment, and outputting T i The path corresponding to the minimum value is taken as the optimal path; then, during the transportation process, the suspension height, speed and pipe segment inclination angle information of each partition are extracted in real time as input information of the suspension height neural network model, the transport vehicle speed neural network model and the pipe segment inclination angle neural network model, and the output information is obtained to determine whether each parameter is within the safety threshold. If it is not within the safety threshold, the corresponding instructions are generated, and the controllers of the transport vehicles in each partition adjust the corresponding parameters to ensure that each parameter operates within the safety threshold.

[0048] In the above embodiment, preferably, the selected neural network can be a BP neural network, an LSTM neural network, an Autoencoder neural network, etc.

[0049] In the above embodiment, specifically, the energy management module includes: processing the energy consumption data of each partition collected in real time through the genetic algorithm GA to optimize the energy allocation strategy; the genetic algorithm is based on natural selection and genetic principles, and uses selection, crossover and mutation operations to find the optimal solution. By processing the collected energy consumption data of each partition through the GA algorithm, the energy allocation strategy will be effectively obtained.

[0050] In the above embodiment, specifically, the control methods of the above-mentioned air cushion suspension unit, partition control unit, communication unit and central control unit are used to jointly generate a transportation control method for the entire immersed tube segment, thereby realizing real-time, intelligent, energy-saving, efficient and safe transportation of the immersed tube segment.

[0051] like Figure 3As shown: is a schematic diagram of the intelligent zoning control of the present invention; in this schematic diagram, the transportation area of ​​the immersed tube segment is divided into area A gas transport vehicles, area B gas transport vehicles and area C gas transport vehicles; sensors are installed on each transport vehicle, and the area A gas transport vehicle is divided into area A, the area B gas transport vehicle is divided into area B and the area C gas transport vehicle is divided into area C; data information of area A, area B and area C are collected respectively, and the collected data information is transmitted to the intelligent zoning for control. The intelligent zoning control is equivalent to a central control unit, which performs zoning control on the immersed tube segment.

[0052] In the above embodiment, preferably, when transporting a large immersed tube segment, the immersed tube segment is often divided into more than three zones, that is, the zones are divided into: A1, A2, ... A n , n represents dividing the immersed tube section into n partitions.

[0053] like Figure 4 As shown: is a schematic diagram of the integrated artificial intelligence decision-making of the present invention; in this schematic diagram, the integrated artificial intelligence decision-making system is divided into: zoning, sensor network layout and data acquisition, regional communication, remote monitoring and scheduling, real-time path planning, safety reservation and early warning alarm system; among them, zoning, sensor network layout and data acquisition are realized by the zoning control unit S20; regional communication is carried out by the communication device installed by the communication unit S30; remote monitoring and scheduling, real-time path planning, safety setting and early warning alarm system in this figure are realized by the artificial intelligence control module, energy management module and human-computer interaction module of the central control unit S40; the above six major functions are integrated into the central control unit S40 to realize the integrated artificial intelligence decision-making system of the present invention.

[0054] It should be understood that the above embodiments are one or more embodiments of the present invention, and there are many other embodiments and variations thereof based on the present invention; the variations and modifications made by ordinary technicians in this industry through the present invention without making groundbreaking innovations all fall within the scope of protection of the present invention.

Claims

1. A submerged tube air cushion suspension device, characterized in that: The device comprises: Air cushion suspension unit, partition control unit, communication unit and central control unit; The air cushion suspension unit includes an air cushion suspension device; the air cushion suspension device is a device that uses air pressure to generate an air cushion to suspend the target object in the air; the air cushion suspension device is designed at the bottom of the immersed tube segment transport vehicle so that the transport vehicle is suspended above the ground during transportation; the immersed tube segment has the characteristics of large structure and high weight, so the transportation of the immersed tube segment requires multiple transport vehicles to complete the transportation at the same time. At the same time, an air cushion suspension device is designed at the bottom of each transport vehicle, and all air cushion suspension devices work simultaneously to complete the transportation of the immersed tube segment; The partition control unit includes: a sensor module and a control module; by dividing the suspended transport area into multiple partitions and installing sensors and controllers on each partition, real-time monitoring and partition control of each partition are achieved; each vehicle is regarded as a partition and multiple vehicles are regarded as a partition; after partitioning, the corresponding parameter state threshold of each partition is determined, and the corresponding parameters include: suspension height, speed and the inclination angle of the corresponding partition pipe segment; the method for determining the corresponding parameter state threshold of each partition is as follows: Determination of the suspension height threshold: Under ideal conditions, the suspension height is between 5% and 10% of the pipe segment diameter, so the suspension height threshold is selected to be between the pipe segment diameter and the speed. 5% to 10% of the diameter; Determination of speed threshold: Generally, the transport speed range is selected to be 0.5 to 2m / s, and the transport speed threshold of each partition is selected to be 0.5 to 2m / s; Determination of the corresponding partition pipe segment inclination angle: Use SolidWorks 3D modeling software to establish a 3D model of the entire immersed tube segment air cushion suspension system; Through the established 3D model, simulation is performed to place the pipe segment in different states, including safe and unsafe states; thereby determining the state threshold of the pipe segment inclination angle of different partitions; At the same time, the vehicle suspension height and running speed are simulated through 3D simulation to further optimize the suspension height threshold and speed threshold; The communication unit includes: a communication device; by installing the communication device in each partition, a distributed communication system is formed in the entire suspended transport area, so that the control modules of each partition can exchange information in real time; The central control unit refers to the central control server, which includes: an artificial intelligence control module, an energy management module and a human-computer interaction module; the artificial intelligence control module refers to the analysis of data information of each partition collected in real time through artificial intelligence technology, and achieves the purpose of optimizing the path, adjusting the suspension height, speed and partition control according to the analysis results; the energy management module monitors the energy consumption of each partition through sensors, adopts an intelligent energy management algorithm, and distributes energy according to the workload of different partitions; the human-computer interaction module refers to the real-time monitoring interface, and the real-time monitoring interface refers to the operator's ability to monitor the status of the suspension transport vehicle and the position information of the pipe section in real time through the real-time monitoring interface; at the same time, the operator can perform remote control and intervention through the interface to achieve human-computer collaboration.

2. The immersed tube air cushion suspension device according to claim 1, characterized in that: The communication unit includes: communication equipment is installed on the vehicles in each partition, each communication equipment is marked with a position, and information can be transmitted between the communication devices, so that the transportation of the immersed tube air cushion suspension is equipped as a distributed communication system.

3. The immersed tube air cushion suspension device according to claim 1, characterized in that: The artificial intelligence control module includes: managing the tilt angle of the partitioned pipe section according to the analysis results; the artificial intelligence module is implemented through a neural network, which mainly includes: model training, model verification and model prediction; wherein, the model training includes: when extracting the training set and test set of the optimal path, obtaining multiple path information from the starting point to the destination, extracting the distance from the starting point to the destination and the number of obstacles on each path information as input X i , i is the i-th input sample, X i is a vector; transportation time T i is the output, i is the i-th output sample; when extracting the training set and test set for adjusting the suspension height and speed, the data between 0 and 15% of the pipe segment diameter and the transport vehicle speed between 0 and 3 m / s are segmented respectively, and multiple data in each segment are extracted as the input of the neural network, and whether the input is within the safety range is used as the output of the neural network. If the input is within the threshold, the output is set to 1, and if the input is not within the threshold, the output is set to 0; the threshold of the suspension height is between 5% and 10% of the pipe segment diameter, that is, (5%d, 10%d), where d is the diameter of the immersed tube segment; the threshold of the speed of each zone transport point is (0.5, 2); when extracting the training set and test set of the zone segment inclination angle, through three-dimensional simulation, the inclination angle of each zone segment in different states of the immersed tube segment is used as the input of the neural network (h1, h2, ... h j ), h j It represents the inclination angle of the immersed tube segment in the j-th partition, and outputs 1 if the immersed tube segment is within the safety threshold and 0 if it is outside the safety range. By extracting the input and output of the optimal path, transport vehicle height, transport vehicle speed and partitioned tube segment inclination angle in the neural network, the extracted data are divided into a training set and a test set, and neural network models with different parameters are trained. That is, after training, the optimal path neural network model, the suspension height neural network model, the transport vehicle speed neural network model and the tube segment inclination angle neural network model are obtained respectively.

4. The immersed tube air cushion suspension device according to claim 3, characterized in that: The artificial intelligence control module further includes: extracting the distance from the starting point to the destination and the number of obstacles in the path information in the corresponding transportation environment according to the target immersed tube segment transportation environment as input to the optimal path neural network model, determining the optimal path for the target immersed tube segment, and outputting T i The path corresponding to the minimum value is taken as the optimal path; then, during the transportation process, the suspension height, speed and pipe segment inclination angle information of each partition are extracted in real time as input information of the suspension height neural network model, the transport vehicle speed neural network model and the pipe segment inclination angle neural network model, and the output information is obtained to determine whether each parameter is within the safety threshold. If it is not within the safety threshold, the corresponding instructions are generated, and the controllers of the transport vehicles in each partition adjust the corresponding parameters to ensure that each parameter operates within the safety threshold.

5. The immersed tube air cushion suspension device according to claim 1, characterized in that: The energy management module includes: processing the real-time collected energy consumption data of each partition through the genetic algorithm GA to optimize the energy allocation strategy; the genetic algorithm is based on natural selection and genetic principles, using selection, crossover and mutation operations to find the optimal solution. By processing the collected energy consumption data of each partition through the GA algorithm, the energy allocation strategy will be effectively obtained.

6. The immersed tube air cushion suspension device according to claim 1, characterized in that: Also includes: The air cushion suspension unit, partition control unit, communication unit and central control unit jointly generate a transportation control method for the entire air cushion suspended immersed tube segment, thereby realizing real-time, intelligent, energy-saving, efficient and safe transportation of the immersed tube segment.

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